在双脚机器人中利用弧形脚结构来延伸膝盖步行
Yudi Zhu1,2, Zhiyuan Liang1,2, Jun Tang1,2
1School of Optoelectronic Information and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.
Biomimetics (Basel, Switzerland)
|February 25, 2025
概括
这项研究为双脚机器人引入了一种新的模式生成方法,使得有效的膝盖伸展行走成为可能. 这种方法最大限度地降低了能耗,并通过模拟人弓运动和采用先进的控制策略来提高稳定性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物力学 生物力学
- 控制系统 控制系统
背景情况:
- 人类的行走效率依赖于膝盖延伸,这对于双脚机器人来说是一项具有挑战性的壮举,因为它们的姿势奇点和高关节速度.
- 传统的控制方法在人形机器人中与高效的膝盖延伸运动作斗争.
研究的目的:
- 开发一种模式生成方法,用于稳定和节能的双脚机器人膝盖伸缩行走.
- 使用惯性线性倒置摆形模型 (ILIPM) 模拟人类弧形运动.
- 通过符合控制和先进的错误纠正技术来提高机器人的稳定性.
主要方法:
- 使用惯性线性倒置摆形模型 (ILIPM) 来生成模式.
- 设计了一个四边形的脚结构和合规的虚拟腿部控制.
- 实施了联合线性反和脚关节策略,以纠正运动分离元件 (DCM) 错误.
主要成果:
- 膝盖伸展步行与合规控制实现了最低的能源消耗和最小化的质量中心 (COM) 速度振荡.
- 基于ILIPM的行走显示出稳定的COM轨迹振荡 (振幅~0.015米).
- 在保持COM姿势角度和角度动量方面,ILIPM的表现优于LIPM和飞轮LIPM,改善了稳定性.
结论:
- 拟议的基于ILIPM的模式生成方法与合规的控制使双脚机器人能够有效和稳定地进行膝盖伸展步行.
- 结合脚关节和线性反控制有效地纠正DCM错误,提高动态稳定性.
- 这种方法为改善人形机器人运动提供了一个有希望的解决方案.
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